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<div class="title">route_tracker.cpp</div>  </div>
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<a href="route__tracker_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;route_tracker/route_tracker.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;uav_link_ifs/uavcontrol_interface.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Path.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;std_msgs/String.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/PointCloud2.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/TwistStamped.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/Range.h&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;tf/transform_broadcaster.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;tf/tf.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keywordtype">bool</span> PID_2D_control::update_latest_local_pos()</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{   </div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordflow">if</span>(_mavlink!=<span class="keyword">nullptr</span>){</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        latest_x=_mavlink-&gt;get_pose().pos_x;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        latest_y=_mavlink-&gt;get_pose().pos_y;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        latest_z=_mavlink-&gt;get_pose().pos_z;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        latest_yaw=_mavlink-&gt;get_pose().yaw;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    }</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keywordtype">bool</span> PID_2D_control::get_2d_control_speed(positon_Local_NED_t &amp;input_pos_flow,velocity_Local_NED_t &amp;output_flow){</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    </div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">double</span> &amp;target_x=input_pos_flow.x;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">double</span> &amp;target_y=input_pos_flow.y;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="comment">// double target_yaw=rect_coord_to_angle(target_x-latest_x,target_y-latest_y);</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    </div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">// rout(&quot;target_x %f,target_y:%f,last_x:%f,last_y:%f,target_yaw%f，latest_yaw:%f&quot;,target_x,target_y,latest_x,latest_y,target_yaw,latest_yaw);</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    target_yaw = input_pos_flow.yaw;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordtype">double</span> &amp;target_vx=output_flow.vx;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordtype">double</span> &amp;target_vy=output_flow.vy;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordtype">double</span> &amp;target_yaw_rate=output_flow.yaw_rate;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    pid_yaw_rate.error=include_angle_calc(latest_yaw,target_yaw);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">// rout(&quot;pid_yaw_rate.error:%f&quot;,pid_yaw_rate.error);</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">if</span>(pid_yaw_rate.error_sum&gt;10) pid_yaw_rate.error_sum=10;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordflow">if</span>(pid_yaw_rate.error_sum&lt;-10) pid_yaw_rate.error_sum=-10;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    pid_vx.error=target_x-latest_x; <span class="comment">//转换坐标系</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    pid_vy.error=target_y-latest_y;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    pid_yaw_rate.error=include_angle_calc(latest_yaw,target_yaw);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    pid_vx.error_sum+=pid_vx.error;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    pid_vy.error_sum+=pid_vy.error;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    pid_yaw_rate.error_sum+=pid_vy.error_sum;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    pid_vx.i_sum_constrain();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    pid_vy.i_sum_constrain();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    pid_yaw_rate.i_sum_constrain();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    target_vx=pid_vx.PID();</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    target_vy=pid_vy.PID();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    target_yaw_rate=pid_yaw_rate.PID();</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    pid_vx.constrain(target_vx);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    pid_vy.constrain(target_vy);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    pid_yaw_rate.constrain(target_yaw_rate);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">// rout(&quot;%f %f&quot;,target_vx,target_vy);</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span>(abs(pid_yaw_rate.error)&gt;M_PI_4/2){</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">double</span> ratio = abs(pid_yaw_rate.error)-M_PI_4/2+1;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        target_vx/=ratio;target_vy/=ratio;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keywordtype">void</span> PID_2D_control::Create_Thread(positon_Local_NED_t &amp;input_pos_flow){</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    </div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    ros::Rate *loop_rate = <span class="keyword">new</span> ros::Rate(20);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    std::stringstream ss;ss&lt;&lt;<span class="stringliteral">&quot;Path_PID_CONTROL_THREAD Started.Thread ID:&quot;</span>&lt;&lt;std::this_thread::get_id();<a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;%s&quot;</span>,ss.str().c_str());</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    </div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    input_pos_flow.yaw  = _mavlink-&gt;get_pose().yaw;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    input_pos_flow.x=_mavlink-&gt;get_pose().pos_x;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    input_pos_flow.y=_mavlink-&gt;get_pose().pos_y;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    input_pos_flow.z=_mavlink-&gt;get_pose().pos_z;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">double</span> last_x=0,last_y=0,last_yaw=0;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;Mission \&quot;Facing to Target\&quot; : Doing.&quot;</span>);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">while</span>(ros::ok()){</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">// rout(&quot;hello world RouteCOntrol&quot;);</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        loop_rate-&gt;sleep();</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordflow">if</span>(!<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;no_move){</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            <span class="keywordflow">if</span>(_mavlink-&gt;get_mode()!=<span class="stringliteral">&quot;OFFBOARD&quot;</span>){</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                _mavlink-&gt;set_mode(<span class="stringliteral">&quot;OFFBOARD&quot;</span>);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                _mavlink-&gt;set_arm(<span class="keyword">true</span>);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            }</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            </div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            update_latest_local_pos();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            velocity_Local_NED_t output_flow;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            get_2d_control_speed(input_pos_flow,output_flow);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            get_altitude_speed(input_pos_flow.z,output_flow.vz);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            _mavlink-&gt;setPositionLocalNED(output_flow);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="comment">// rout(&quot;attpos .x %f %f&quot;,mavlink.copter_local_pos_att.pos_x,mavlink.copter_local_pos_att.pos_y);</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
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